Class StateEstimator

Defined in File StateEstimator.h

Inheritance Relationships

Base Type

public controller_interface::ChainableControllerInterface

Class Documentation

class StateEstimator : public controller_interface::ChainableControllerInterface

Public Types

using Odom = nav_msgs::msg::Odometry

Public Functions

controller_interface::InterfaceConfiguration command_interface_configuration() const override

controller_interface::InterfaceConfiguration state_interface_configuration() const override

controller_interface::return_type update_and_write_commands(const rclcpp::Time &time, const rclcpp::Duration &period) override

controller_interface::CallbackReturn on_init() override

controller_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override

controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override

controller_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override

std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override

inline controller_interface::return_type update_reference_from_subscribers() override

Public Members

const std::string tfTopic_ = "/tf"

const std::string jointTopic_ = "/joint_states"

Protected Attributes

LeggedModel::SharedPtr leggedModel_

LeggedModel::SharedPtr *leggedModelPtr_ = &leggedModel_

std::shared_ptr<semantic_components::JointSensors> joints_

std::shared_ptr<semantic_components::IMUSensor> imu_

GmObserverRos2::SharedPtr gmObserver_

LinearKalmanFilterRos2::SharedPtr linearKalmanFilter_

std::shared_ptr<rclcpp::Subscription<Odom>> poseSubscriber_

realtime_tools::RealtimeBox<Odom> poseStamped_

Odom poseStampedLast_

size_t topicFrameIndex_ = 0

quaternion_t worldToMap_ = quaternion_t::Identity()

std::shared_ptr<rclcpp::Publisher<tf2_msgs::msg::TFMessage>> odomTfPublisher_

std::shared_ptr<realtime_tools::RealtimePublisher<tf2_msgs::msg::TFMessage>> odomTfPublisherRealtime_

std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::JointState>> jointStatesPublisher_

std::shared_ptr<realtime_tools::RealtimePublisher<sensor_msgs::msg::JointState>> jointStatesPublisherRealtime_